从激光点云中提取古建筑线性和圆形特征的比较

对古建筑激光扫描点云进行分割、识别,并利用Hough变换和最小二乘法从点云中提取直线和圆,取得了较满意的结果。对两种算法的提取效果进行了比较。     

利用目标区域拓扑关系图提取建筑物点云

建筑物提取一直是机载激光点云数据处理研究的热点,其中建筑物和其他地物之间的区分是研究的核心和难点。为提高建筑物与其他地物在机载激光点云中的区分能力,提出了一种建筑物点云层次提取方法。首先,在点云滤波后,从非地面点云中提取建筑物候选区域;然后,通过形态学重建和点云平面分割方法对建筑物候选区域构建多尺度空间,并建立目标区域的拓扑关系图;最后,在拓扑关系图基础上,利用5种特征量对目标区域分类,并精确提取建筑物点云。为了测试算法的有效性和可靠性,利用国际摄影测量与遥感学会（International Society for Photogrammetry and Remote Sensing,ISPRS）提供的Vaihingen和Toronto两组测试数据集进行实验,并由ISPRS对结果进行评估,其中基于面积和目标的完整度、正确率和提取质量分别都大于87.8%、94.7%、87.3%。与其他建筑物提取方法相比,该方法在基于面积和目标的质量指标方面最为稳定。实验结果表明,在不同的城市场景下,该算法能够稳健地提取建筑物,并保持很高的正确率。     

Segmentation of terrestrial laser scanning data using geometry and image information

Terrestrial laser scanning is becoming a standard technology for 3D modeling of complex scenes. Laser scans contain detailed geometric information, but still require interpretation of the data for making it useable for mapping purposes. A fundamental step in the transformation of the data into objects involves their segmentation into consistent units. Such units should follow some predefined rules, and result in salient regions guided by the desire that the individual segments represent object or object-parts within the scene. Nonetheless, due to the scene complexity and the variety of objects, a segmentation using only a single cue does not suffice. Considering the availability of additional data sources such as color images, more information can be integrated in the data partitioning process and ultimately into the reconstruction scheme. We propose segmentation of terrestrial laser scanning data by the integration of range and color content and by using multiple cues. This concept raises questions regarding their mode of integration, and definition of the expected outcome. We show, that while individual segmentation based on given cues have their own limitations, their integration provide a more coherent partitioning that has better potential for further processing. Experiments show that the proposed segmentation methodology yield physically meaningful segments, which surpass those obtained via segmentation of the individual channels.     

3D change detection at street level using mobile laser scanning point clouds and terrestrial images

Automatic change detection and geo-database updating in the urban environment are difficult tasks. There has been much research on detecting changes with satellite and aerial images, but studies have rarely been performed at the street level, which is complex in its 3D geometry. Contemporary geo-databases include 3D street-level objects, which demand frequent data updating. Terrestrial images provides rich texture information for change detection, but the change detection with terrestrial images from different epochs sometimes faces problems with illumination changes, perspective distortions and unreliable 3D geometry caused by the lack of performance of automatic image matchers, while mobile laser scanning (MLS) data acquired from different epochs provides accurate 3D geometry for change detection, but is very expensive for periodical acquisition. This paper proposes a new method for change detection at street level by using combination of MLS point clouds and terrestrial images: the accurate but expensive MLS data acquired from an early epoch serves as the reference, and terrestrial images or photogrammetric images captured from an image-based mobile mapping system (MMS) at a later epoch are used to detect the geometrical changes between different epochs. The method will automatically mark the possible changes in each view, which provides a cost-efficient method for frequent data updating. The methodology is divided into several steps. In the first step, the point clouds are recorded by the MLS system and processed, with data cleaned and classified by semi-automatic means. In the second step, terrestrial images or mobile mapping images at a later epoch are taken and registered to the point cloud, and then point clouds are projected on each image by a weighted window based z-buffering method for view dependent 2D triangulation. In the next step, stereo pairs of the terrestrial images are rectified and re-projected between each other to check the geometrical consistency between point clouds and stereo images. Finally, an over-segmentation based graph cut optimization is carried out, taking into account the color, depth and class information to compute the changed area in the image space. The proposed method is invariant to light changes, robust to small co-registration errors between images and point clouds, and can be applied straightforwardly to 3D polyhedral models. This method can be used for 3D street data updating, city infrastructure management and damage monitoring in complex urban scenes.     

The comparison index: A tool for assessing the accuracy of image segmentation

Segmentation algorithms applied to remote sensing data provide valuable information about the size, distribution and context of landscape objects at a range of scales. However, there is a need for well-defined and robust validation tools to assessing the reliability of segmentation results. Such tools are required to assess whether image segments are based on ‘real’ objects, such as field boundaries, or on artefacts of the image segmentation algorithm. These tools can be used to improve the reliability of any land-use/land-cover classifications or landscape analyses that is based on the image segments.The validation algorithm developed in this paper aims to: (a) localize and quantify segmentation inaccuracies; and (b) allow the assessment of segmentation results on the whole. The first aim is achieved using object metrics that enable the quantification of topological and geometric object differences. The second aim is achieved by combining these object metrics into a ‘Comparison Index’, which allows a relative comparison of different segmentation results. The approach demonstrates how the Comparison Index CI can be used to guide trial-and-error techniques, enabling the identification of a segmentation scale H that is close to optimal. Once this scale has been identified a more detailed examination of the CI–H- diagrams can be used to identify precisely what H value and associated parameter settings will yield the most accurate image segmentation results.The procedure is applied to segmented Landsat scenes in an agricultural area in Saxony-Anhalt, Germany. The segmentations were generated using the ‘Fractal Net Evolution Approach’, which is implemented in the eCognition software.     

利用多元LBP特征自动提取城市道路边界

车载移动测量系统可采集高精度道路三维点云数据,为道路边界自动化提取提供了支撑.为解决车载激光点云中城市道路边界点云提取困难问题,本文引入局部二值模式LBP(Local Binary Pattern),针对各类城市道路边界特征,设计了高度LBP、高程离散度LBP和空间形状LBP3种改进算子;构建多元LBP特征语义识别模型...     

Urban accessibility diagnosis from mobile laser scanning data

In this paper we present an approach for automatic analysis of urban accessibility using 3D point clouds. Our approach is based on range images and it consists in two main steps: urban objects segmentation and curbs detection. Both of them are required for accessibility diagnosis and itinerary planning.Our method automatically segments facades and urban objects using two hypotheses: facades are the highest vertical structures in the scene and objects are bumps on the ground on the range image. The segmentation result is used to build an urban obstacle map. After that, the gradient is computed on the ground range image. Curb candidates are selected using height and geodesic features. Then, nearby curbs are reconnected using Bézier curves. Finally, accessibility is defined based on geometrical features and accessibility standards.Our methodology is tested on two MLS databases from Paris (France) and Enschede (The Netherlands). Our experiments show that our method has good detection rates, is fast and presents few false alarms. Our method outperforms other works reported in the literature on the same databases.     

车载激光扫描数据中多类目标的层次化提取方法

提出了一种从车载激光扫描数据中层次化提取多类型目标的有效方法。该方法首先利用颜色、激光反射强度、空间距离等特征,生成多尺度超级体素;然后综合超级体素的颜色、激光反射强度、法向量、主方向等特征利用图分割方法对体素进行分割;同时计算分割区域的显著性,以当前显著性最大的区域为种子区域进行邻域聚类得到目标;最后结合聚类区域的几何特性判断目标可能所属的类别,并按照目标类别采用不同的聚类准则重新聚类得到最终目标。试验结果表明,该方法成功地提取出建筑物、地面、路灯、树木、电线杆、交通标志牌、汽车、围墙等多类目标,目标提取的总体精度为92.3%。     

A multi-band approach to unsupervised scale parameter selection for multi-scale image segmentation

Image segmentation is one of key steps in object based image analysis of very high resolution images. Selecting the appropriate scale parameter becomes a particularly important task in image segmentation. In this study, an unsupervised multi-band approach is proposed for scale parameter selection in the multi-scale image segmentation process, which uses spectral angle to measure the spectral homogeneity of segments. With the increasing scale parameter, spectral homogeneity of segments decreases until they match the objects in the real world. The index of spectral homogeneity is thus used to determine multiple appropriate scale parameters. The performance of the proposed method is compared to a single-band based method through qualitative visual interpretation and quantitative discrepancy measures. Both methods are applied for segmenting two images: a QuickBird scene of an urban area within Beijing, China and a Woldview-2 scene of a suburban area in Kashiwa, Japan. The proposed multi-band based segmentation scale parameter selection method outperforms the single-band based method with the better recognition for diverse land cover objects in different urban landscapes.     

利用多尺度张量投票的建筑立面分割方法

地面三维激光扫描是城市建筑立面数据采集的新方法,由于三维点云具有数据量大、无规则等特点,导致从点云中精确分割城市建筑物信息面临着严峻的挑战.在传统张量投票方法基础上,充分考虑各个尺度下点云立面特征判别的概率,提出了一种多尺度张量投票方法来实现平面分割,更加精确地实现了立面特征的识别.通过实例,将该方法同主成分分析和传统...     

OSM辅助车载LiDAR点云三维道路边界精细提取

道路边界精确提取建模是城市道路管理、智能交通规划和高精度地图制作等领域的重要课题之一。本文提出了一种基于车载激光雷达点云数据和开源街道地图(OSM)的三维道路边界精确提取方法。首先,针对原始车载LiDAR点云数据应用布料模拟滤波分离地面点,再结合相对高程分析获取道路边界点候选数据集。然后,应用OSM矢量道路网数据的节点辅助道路边界点候选点集进行分段。最后,在各分段点云数据集中基于随机抽样一致性算法获得三维道路边界点集。通过直道、弯道及高密度复杂场景3种不同类型的城区道路边界路段分类提取试验。结果表明,利用该方法进行道路边界提取的准确率和召回率分别达96.12%和95.17%,F1值达92.11%,本文方法可用于高精度道路边界的三维精细提取与矢量化,进而为智能交通与无人驾驶导航提供支撑。     

车载激光扫描数据分类支持下的路面数据提取

车载激光扫描系统可以快速采集道路及两旁的建筑物、植被、电杆等地物的点云数据,而点云数据的分类提取是车载激光扫描系统应用的关键。本文选用全景激光移动测量系统获取的激光点云数据,分析了路面点云数据的特征,采用渐进格网法进行了路面点云数据的提取研究;通过试验区的实例验证,取得了较好的分类效果。     

面向对象的植被与建筑物重叠区域的点云分类方法

在分析LiDAR点云数据分类现状的基础上,针对植被与建筑物重叠区域分类困难的问题,提出了一种基于面向对象的点云分类方法.首先采用三角网渐进内插的滤波方法将点云分为地面点和非地面点,并得到DTM;然后对高出DTM一定高度的非地面点建立三角网,删除较长的三角网的边(地物间的边),从而将非地面点云分割成多个对象;再利用各个对象内的三角网坡度信息熵大小判断该对象属于植被或建筑物;最后对于难以区分的对象(植被与建筑物重叠区)根据建筑物几何规则形状延伸扩充,从而提高植被和建筑物重叠区的点云分类准确率.实验结果表明,该方法能够很好地区分建筑物和植被点,分类准确率达到87％.     

一种自适应的坡度阈值地面点云分割方法

针对城市道路斜坡地形场景中地面欠分割或过分割的问题,提出了一种自适应的激光雷达地面分割算法。首先将激光点云按照水平角度分辨率进行有序组织,然后求取同一水平角度下前后扫描圈间激光点云的距离和局部坡度,最后采用自适应水平距离、局部高度和全局高度阈值区分地面点和非地面点。结合40线激光雷达进行多场景实例分析,结果表明本文算法分割的准确率更高,处理每帧数据均用时约1ms,满足无人驾驶汽车的实时性需求。提出了一种自适应的激光雷达地面分割算法,实现了对激光雷达地面点云的准确分割。     

单圆盾构隧道移动激光扫描收敛值计算

近年来,架站式三维激光扫描技术广泛应用于盾构隧道收敛监测,但频繁换站降低了外业测量的效率。同时,在激光点云拟合计算收敛点坐标时,收敛点位置会随着隧道变形而变化,因而,点云曲线拟合难以确保得到不同时间、同断面、同收敛点坐标,影响了收敛值的精度。自主研发了一款经济适用且高效可靠的移动激光扫描监测系统,解决了架站式三维激光扫描监测效率低下的问题。针对收敛值计算方法存在的问题,详细讲解了基于隧道平铺图的收敛值计算方法,具体过程如下:首先,经过点云标准圆投影并展开,再经过图像栅格化、内插及增强处理得到隧道平铺图;其次,通过图像二值化、连通域分析、自动识别及人工纠正环缝,准确划分隧道每环点云;接下来,绘制每环管片接缝在平铺图的位置,求出每环收敛定点方位;最后,通过分管片拟合,计算收敛定点坐标并推出收敛值。计算实例表明,移动激光扫描收敛值重复结果差值均在1.5 mm以内,由此可知,提出的计算方法可用于单圆盾构隧道进行高效收敛监测,且精度可靠。     

车载激光扫描点云中建筑物边界的快速提取

以车载激光扫描点云数据为研究对象,提出一种由粗到细且快速获取点云中建筑物3维位置边界的方法。首先,通过分析格网内部点云的空间分布特征(平面距离、高程差异和点密集程度等)确定激光扫描点的权值,采用距离加权倒数IDW(Inverse Distance Weighted)内插方法生成车载激光扫描点云的特征图像。然后,采用阈值分割、轮廓提取与跟踪等手段提取特征图像中的建筑物目标的粗糙边界。最后,对粗糙边界内部的建筑物目标点云进行平面分割,提取建筑物的立面特征并构建立面不规则三角网TIN(Triangulated Irregular Network),并在建筑物先验框架知识条件下自动提取建筑物的精确3维位置边界。     

Automated registration of dense terrestrial laser-scanning point clouds using curves

This paper proposes an automatic method for registering terrestrial laser scans in terms of robustness and accuracy. The proposed method uses spatial curves as matching primitives to overcome the limitations of registration methods based on points, lines, or patches as primitives. These methods often have difficulty finding correspondences between the scanned point clouds of freeform surfaces (e.g., statues, cultural heritage). The proposed method first clusters visually prominent points selected according to their associated geometric curvatures to extract crest lines which describe the shape characteristics of point clouds. Second, a deformation energy model is proposed to measure the shape similarity of these crest lines to select the correct matching-curve pairs. Based on these pairs, good initial orientation parameters can be obtained, resulting in fine registration. Experiments were undertaken to evaluate the robustness and accuracy of the proposed method, demonstrating a reliable and stable solution for accurately registering complex scenes without good initial alignment.     

一种基于空间网格的地物要素点云提取方法

LiDAR点云的分类提取是点云数据处理中的首要步骤。为了提高复杂场景中点云数据分类提取方法的适用性,文中根据三维数学形态学思想,提出一种基于地物空间形状特征的点云提取方法。方法首先建立网格索引,划分网格空间,进行点云数据组织,然后根据地物在网格空间中的形状特征设计出四种参数可控的空间网格算子,最后结合点云反射强度信息自动提取特定地物点云。通过对复杂场景中的铁路地物要素LiDAR点云中建筑、电力杆线、铁路轨道的提取和郊区机载LiDAR点云中的地面与建筑屋顶的提取,验证提取算法的适用性,为点云分类提取功能模块的程序设计提供便捷方法。     

知识引导下的城区LiDAR点云高精度三角网渐进滤波方法

针对城区LiDAR点云特点,提出一种基于知识的三角网渐进滤波方法：①对格网内插后的栅格数据进行面向对象分割;②采用迭代Otsu聚类手段对地面对象与非地面对象自动分离;③针对分类结果构建初始三角网,并自适应调整地面点判据参数,达到提高滤波质量目的。选用ALS50系统真实数据进行滤波实验,并与传统方法滤波结果进行精度评价,评价结果表明：基于知识的滤波方法能进一步提高点云滤波质量。     

Object based building footprint detection from high resolution multispectral satellite image using K-means clustering algorithm and shape parameters

Object-based image analysis (OBIA) has been a new area of research in satellite image processing applications, since it improves the quality of information acquisition about geospatial objects and also enables to add spatial and contextual information to the objects of interest. The extraction of buildings from High Resolution Satellite (HRS) image in an urban scenario has been an intricate problem due to their different size, shape, varying rooftop textures and low contrast between building and surrounding region. In this study, a new object-based automatic building extraction technique has been proposed to extract building footprints from HRS pan sharpened IKONOS multispectral image. The study is mainly emphasizing on obtaining optimal values for segmentation parameters, shape parameters, and defining rule set to extract buildings and eliminate misclassified other urban features. The suitability of the technique has been judged using different indicators, such as, completeness, correctness and quality.